#!/usr/bin/env python
PACKAGE = "hector_costmap"
import roslib;roslib.load_manifest(PACKAGE)

from dynamic_reconfigure.parameter_generator import *

gen = ParameterGenerator()

gen.add("max_delta_elevation", double_t, 0, "Max traversable hight", 0.08, 0.0, 0.15)
gen.add("use_grid_map", bool_t, 0, "Use grid map", True)
gen.add("use_elevation_map", bool_t, 0, "Use elevation map", True)
gen.add("allow_kinect_to_clear_occupied_cells", bool_t, 0, "Allow kinect to clear occupied cells", True)
gen.add("max_clear_size", int_t, 0, "max clear size", 1, 0, 9)
gen.add("use_negative_step_detection", bool_t, 0, "Try to detect negative steps", False)
gen.add("negative_step_detection_aera", double_t, 0, "unknown area for negative step detection",0.0,0.25, 1.0)
gen.add("costmap_pub_freq", double_t, 0, "costmap pub frequency", 4, 0, 10)
gen.add("octomap_slize_min_height", double_t, 0, "octomap slice width min height", 0.7, -2.0, 2.0)
gen.add("octomap_slize_max_height", double_t, 0, "octomap slice width max height", 0.8, -2.0, 2.0)

exit(gen.generate(PACKAGE, "hector_costmap", "CostMapCalculation"))
